Related papers: Circular orbit spacecraft control at the L4 point …
We study the dynamics of an elastic body whose shape and position evolve due to the gravitational forces exerted by a pointlike planet. We work in the quadrupole approximation. We consider the solution in which the center of mass of the…
We present a detailed analysis of the convergence properties of Lyapunov control for finite-dimensional quantum systems based on the application of the LaSalle invariance principle and stability analysis from dynamical systems and control…
We prove optimality principles for semicontinuous bounded viscosity solutions of Hamilton-Jacobi-Bellman equations. In particular we provide a representation formula for viscosity supersolutions as value functions of suitable obstacle…
Given a Control Lyapunov Function (CLF), Sontag's famous Formula provides a nonlinear state-feedback guaranteeing asymptotic stability of the setpoint. At the same time, a cost function that depends on the CLF is minimized. While there…
For a general time-varying system, we prove that existence of an "Output Robust Control Lyapunov Function" implies existence of continuous time-varying feedback stabilizer, which guarantees output asymptotic stability with respect to the…
Given a nonlinear control system, a target set, a nonnegative integral cost, and a continuous function $W$, we say that the system is globally asymptotically controllable to the target with W-regulated cost, whenever, starting from any…
In this paper, we propose a Lyapunov-based reinforcement learning method for distributed control of nonlinear systems comprising interacting subsystems with guaranteed closed-loop stability. Specifically, we conduct a detailed stability…
In this paper, we investigate a decentralized formation control algorithm for an undirected formation control model. Unlike other formation control problems where only the shape of a configuration counts, we emphasize here also its…
Considering a nonlinear system in Byrnes-Isidori form that is subject to unbounded perturbations, we apply Lyapunov redesign via feedback linearisation for trajectory tracking. Leveraging the ideas of tube-based geometric characterisation…
We present a distributed control law to assemble a cluster of satellites into an equally-spaced, planar constellation in a desired circular orbit about a planet. We assume each satellite only uses local information, transmitted through…
Complete Lyapunov functions for a dynamical system, given by an autonomous ordinary differential equation, are scalar-valued functions that are strictly decreasing along orbits outside the chain-recurrent set. In this paper we show that we…
The dynamics near the Lagrange equilibria $L_1$ and $L_2$ of the Circular Restricted Three-body Problem has gained attention in the last decades due to its relevance in some topics such as the temporary captures of comets and asteroids and…
Stabilizing controller design and region of attraction (RoA) estimation are essential in nonlinear control. Moreover, it is challenging to implement a control Lyapunov function (CLF) in practice when only partial knowledge of the system is…
The paper takes the first step towards the de- velopment of a control framework for underactuated flying humanoid robots. These robots may thus have the capacities of flight, contact locomotion, and manipulation, and benefit from…
In this article, we present a new scheme that approximates unknown sensorimotor models of robots by using feedback signals only. The formulation of the uncalibrated sensor-based regulation problem is first formulated, then, we develop a…
The optimization of low-thrust, multi-revolution orbit transfer trajectories is often regarded as a difficult problem in modern astrodynamics. In this paper, a flexible and computationally efficient approach is presented for the…
In a complex real-time operating environment, external disturbances and uncertainties adversely affect the safety, stability, and performance of dynamical systems. This paper presents a robust stabilizing safety-critical controller…
We study the problem of robust global stabilization in control-affine systems, focusing on dynamic uncertainties in the control directions \emph{and} the presence of topological obstructions that prevent the existence of smooth global…
The orbit tracking of free-evolutionary target system in closed quantum systems is studied in this paper. Based on the concept of system control theory, the unitary transformation is applied to change the time-dependent target function into…
For the $\mathfrak{so}(4)$ free rigid body the stability problem for the isolated equilibria has been completely solved using Lie-theoretical and topological arguments. For each case of nonlinear stability previously found we construct a…